一个敏捷的多式微型机器人,其架构具有被动变形的轮子
Yuchen Lai1, Chuanqi Zang1, Guoquan Luo1
1Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China.
Science advances
|December 18, 2024
概括
这项研究介绍了一种新型的多式微型机器人,具有多功能机动的变形轮设计. 微机器人可以在各种地形上实现高速,敏捷和稳健,同时消耗电量低.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 材料科学 材料科学 材料科学
背景情况:
- 多模式微机器人对于检查,探索和生物医学至关重要.
- 当前的微机器人面临的挑战在于结合机动性,低功耗和强度.
- 生物灵感设计为增强微机器人的能力提供了潜在的解决方案.
研究的目的:
- 开发一个紧的,轻量级的多式联动微机器人,具有增强的机动能力.
- 解决现有的微机器人在速度,敏捷性和地形适应性方面的局限性.
- 为了创建一个被动变形的轮子机制,用于多功能步态.
主要方法:
- 一个被动变形的轮子的建筑设计,利用生物灵感触手结构的不对称曲刚度.
- 整合了变形轮与电磁电机和灵活的机身.
- 开发一个紧,轻量级的微型机器人 (32毫米,4.74克),具有无线控制和电池集成.
主要成果:
- 微机器人表现出三种不同的运动步态.
- 实现了高运动速度 (~21.2 BL/s) 和出色的敏捷性 (~206.9 BL/s2).
- 证明了低功耗 (运输成本约89元),高强度,以及强大的地形适应性,包括混合地形.
结论:
- 拟议的微机器人设计成功地结合了高机动性,低功耗和强度.
- 被动变形的轮子是实现多功能机动和地形适应性的关键.
- 保持性能的无操作为微机器人应用开辟了新的可能性.
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